IEEE - Institute of Electrical and Electronics Engineers, Inc. - Combined Path Following and Compliance Control for Fully Actuated Rigid Body Systems in 3-D Space

Author(s): Bernhard Bischof ; Tobias Gluck ; Andreas Kugi
Sponsor(s): IEEE Control Systems Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Volume: PP
Page(s): 1 - 11
ISSN (Paper): 1063-6536
ISSN (Online): 1558-0865
DOI: 10.1109/TCST.2016.2630599
Regular:

This paper presents path following control for fully actuated rigid body systems in 3-D space. Transverse feedback linearization and a parallel transport frame are used to design a path following... View More

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